{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Importing Important Libraries"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 25,
   "metadata": {},
   "outputs": [],
   "source": [
    "import math\n",
    "import sympy  as sp\n",
    "from sympy.matrices import Matrix\n",
    "from functools import partial\n",
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "from mpl_toolkits import mplot3d\n",
    "from math import pi\n",
    "import pprint\n",
    "pp=pprint.PrettyPrinter(indent=5)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Declaring Variables\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 26,
   "metadata": {},
   "outputs": [],
   "source": [
    "theta_i, alpha_i, d_i, a_i, A_i, a_3, d_1, d_3, d_5, d_7 = sp.symbols('theta_i alpha_i d_i a_i A_i a_3 d_1, d_3, d_5, d_7')\n",
    "theta_1,theta_2,theta_3,theta_4,theta_5,theta_6,theta_7 = sp.symbols ('theta_1,theta_2, theta_3, theta_4, theta_5, theta_6, theta_7')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Rotation and Translation Matrices\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 27,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "\n",
      "Rotation Matrix for rotation about Z\n",
      "Matrix([\n",
      "[cos(theta_i), -sin(theta_i), 0, 0],\n",
      "[sin(theta_i),  cos(theta_i), 0, 0],\n",
      "[           0,             0, 1, 0],\n",
      "[           0,             0, 0, 1]])\n",
      "\n",
      "Rotation Matrix for rotation about X\n",
      "Matrix([\n",
      "[1,            0,             0, 0],\n",
      "[0, cos(alpha_i), -sin(alpha_i), 0],\n",
      "[0, sin(alpha_i),  cos(alpha_i), 0],\n",
      "[0,            0,             0, 1]])\n",
      "\n",
      "Translation Matrix for translation about Z\n",
      "Matrix([\n",
      "[1, 0, 0,   0],\n",
      "[0, 1, 0,   0],\n",
      "[0, 0, 1, d_i],\n",
      "[0, 0, 0,   1]])\n",
      "\n",
      "Translation Matrix for translation about X\n",
      "Matrix([\n",
      "[1, 0, 0, a_i],\n",
      "[0, 1, 0,   0],\n",
      "[0, 0, 1,   0],\n",
      "[0, 0, 0,   1]])\n"
     ]
    }
   ],
   "source": [
    "Rot_z = sp.Matrix([ [sp.cos(theta_i), -sp.sin(theta_i),0,0], [sp.sin(theta_i),sp.cos(theta_i),0,0], [0,0,1,0], [0,0,0,1] ]);\n",
    "Rot_x = sp.Matrix([ [1,0,0,0], [0,sp.cos(alpha_i), -sp.sin(alpha_i),0], [0, sp.sin(alpha_i), sp.cos(alpha_i), 0], [0,0,0,1] ]); \n",
    "Tran_z = sp.Matrix([[1,0,0,0], [0,1,0,0], [0,0,1,d_i], [0,0,0,1]]);\n",
    "Tran_x = sp.Matrix([[1,0,0,a_i], [0,1,0,0], [0,0,1,0], [0,0,0,1]]);\n",
    "print(\"\\nRotation Matrix for rotation about Z\")\n",
    "pp.pprint(Rot_z)\n",
    "print(\"\\nRotation Matrix for rotation about X\")\n",
    "pp.pprint(Rot_x)\n",
    "print(\"\\nTranslation Matrix for translation about Z\")\n",
    "pp.pprint(Tran_z)\n",
    "print(\"\\nTranslation Matrix for translation about X\")\n",
    "pp.pprint(Tran_x)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### General Homogeneous Matrix"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 28,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Matrix([\n",
      "[cos(theta_i), -sin(theta_i)*cos(alpha_i),  sin(alpha_i)*sin(theta_i), a_i*cos(theta_i)],\n",
      "[sin(theta_i),  cos(alpha_i)*cos(theta_i), -sin(alpha_i)*cos(theta_i), a_i*sin(theta_i)],\n",
      "[           0,               sin(alpha_i),               cos(alpha_i),              d_i],\n",
      "[           0,                          0,                          0,                1]])\n"
     ]
    }
   ],
   "source": [
    "A_i=Rot_z*Tran_z*Tran_x*Rot_x;\n",
    "pp.pprint(A_i)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### DH Parameter Table for Fixed $\\theta_3$"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "| Link | $a_i$ | $\\theta_i$ | $\\alpha_i$ | $d_i$ |\n",
    "| --- | --- | --- | --- | --- |\n",
    "| 1 | 0 | $\\theta_1^*$ | 90 | $d_1$ |\n",
    "| 2 | 0 | $\\theta_2^*$ | -90 | 0 |\n",
    "| 3 | $a_3$ | 0 | -90 | $d_3$ |\n",
    "| 4 | $-a_3$ | $\\theta_4^*$ | 90 | 0 |\n",
    "| 5 | 0 | $\\theta_5^*$ | 90 | $d_5$ |\n",
    "| 6 | $a_3$ | $\\theta_6^*$ | -90 | 0 |\n",
    "| 7 | 0 | $\\theta_7^*$ | 0 | $-d_7$ |"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Homogenous Matrix Ad0"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 29,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}6.12323399573677 \\cdot 10^{-17} & -6.12323399573677 \\cdot 10^{-17} & 1.0 & 0\\\\1.0 & 3.74939945665464 \\cdot 10^{-33} & -6.12323399573677 \\cdot 10^{-17} & 0\\\\0 & 1.0 & 6.12323399573677 \\cdot 10^{-17} & 0\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[6.12323399573677e-17, -6.12323399573677e-17,                   1.0, 0],\n",
       "[                 1.0,  3.74939945665464e-33, -6.12323399573677e-17, 0],\n",
       "[                   0,                   1.0,  6.12323399573677e-17, 0],\n",
       "[                   0,                     0,                     0, 1]])"
      ]
     },
     "execution_count": 29,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "Ad0=A_i.subs([(theta_i,math.radians(90)),(alpha_i,math.radians(90)),(a_i,0),(d_i,0)])\n",
    "Ad0"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Homogenous Matrix A1"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 30,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}\\cos{\\left(\\theta_{1} \\right)} & - \\sin{\\left(\\theta_{1} \\right)} & 0 & 0\\\\\\sin{\\left(\\theta_{1} \\right)} & \\cos{\\left(\\theta_{1} \\right)} & 0 & 0\\\\0 & 0 & 1 & 0\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[cos(theta_1), -sin(theta_1), 0, 0],\n",
       "[sin(theta_1),  cos(theta_1), 0, 0],\n",
       "[           0,             0, 1, 0],\n",
       "[           0,             0, 0, 1]])"
      ]
     },
     "execution_count": 30,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "A1=A_i.subs([(theta_i,theta_1),(alpha_i,math.radians(0)),(a_i,0),(d_i,0)])\n",
    "A1"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Homogenous Matrix Ad1"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 31,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}6.12323399573677 \\cdot 10^{-17} & 6.12323399573677 \\cdot 10^{-17} & -1.0 & 0\\\\-1.0 & 3.74939945665464 \\cdot 10^{-33} & -6.12323399573677 \\cdot 10^{-17} & 0\\\\0 & 1.0 & 6.12323399573677 \\cdot 10^{-17} & 64.85\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[6.12323399573677e-17, 6.12323399573677e-17,                  -1.0,     0],\n",
       "[                -1.0, 3.74939945665464e-33, -6.12323399573677e-17,     0],\n",
       "[                   0,                  1.0,  6.12323399573677e-17, 64.85],\n",
       "[                   0,                    0,                     0,     1]])"
      ]
     },
     "execution_count": 31,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "Ad1=A_i.subs([(theta_i,math.radians(-90)),(alpha_i,math.radians(90)),(a_i,0),(d_i,64.85)])\n",
    "Ad1"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Homogenous Matrix A2"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 32,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}\\cos{\\left(\\theta_{2} \\right)} & - \\sin{\\left(\\theta_{2} \\right)} & 0 & 0\\\\\\sin{\\left(\\theta_{2} \\right)} & \\cos{\\left(\\theta_{2} \\right)} & 0 & 0\\\\0 & 0 & 1 & -140\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[cos(theta_2), -sin(theta_2), 0,    0],\n",
       "[sin(theta_2),  cos(theta_2), 0,    0],\n",
       "[           0,             0, 1, -140],\n",
       "[           0,             0, 0,    1]])"
      ]
     },
     "execution_count": 32,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "A2=A_i.subs([(theta_i,theta_2),(alpha_i,math.radians(0)),(a_i,0),(d_i,-140)])\n",
    "A2"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Homogenous Matrix Ad2"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 33,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}1 & 0 & 0 & 500\\\\0 & 1 & 0 & 0\\\\0 & 0 & 1 & 0\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[1, 0, 0, 500],\n",
       "[0, 1, 0,   0],\n",
       "[0, 0, 1,   0],\n",
       "[0, 0, 0,   1]])"
      ]
     },
     "execution_count": 33,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "Ad2=A_i.subs([(theta_i,math.radians(0)),(alpha_i,math.radians(0)),(a_i,500),(d_i,0)])\n",
    "Ad2"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Homogenous Matrix A3"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 34,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}\\cos{\\left(\\theta_{3} \\right)} & - \\sin{\\left(\\theta_{3} \\right)} & 0 & 0\\\\\\sin{\\left(\\theta_{3} \\right)} & \\cos{\\left(\\theta_{3} \\right)} & 0 & 0\\\\0 & 0 & 1 & 0\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[cos(theta_3), -sin(theta_3), 0, 0],\n",
       "[sin(theta_3),  cos(theta_3), 0, 0],\n",
       "[           0,             0, 1, 0],\n",
       "[           0,             0, 0, 1]])"
      ]
     },
     "execution_count": 34,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "A3=A_i.subs([(theta_i,theta_3),(alpha_i,math.radians(0)),(a_i,0),(d_i,0)])\n",
    "A3"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Homogenous Matrix A4"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 35,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}1 & 0 & 0 & 450\\\\0 & 1 & 0 & 0\\\\0 & 0 & 1 & 0\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[1, 0, 0, 450],\n",
       "[0, 1, 0,   0],\n",
       "[0, 0, 1,   0],\n",
       "[0, 0, 0,   1]])"
      ]
     },
     "execution_count": 35,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "A4=A_i.subs([(theta_i,0),(alpha_i,math.radians(0)),(a_i,450),(d_i,0)])\n",
    "A4"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Steps to Get the Jacobian Matrix usinh Method 2"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Transformation Matrix  $T_e^0$ from $O_0$ to $O_e$"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 36,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Transformation Matrix with joint angle set to required position\n"
     ]
    },
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}0 & 1.0 & 0 & -288.703390593274\\\\6.12323399573677 \\cdot 10^{-17} & 0 & -1.0 & 140.0\\\\-1.0 & 0 & -6.12323399573677 \\cdot 10^{-17} & -803.553390593274\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[                   0, 1.0,                     0, -288.703390593274],\n",
       "[6.12323399573677e-17,   0,                  -1.0,             140.0],\n",
       "[                -1.0,   0, -6.12323399573677e-17, -803.553390593274],\n",
       "[                   0,   0,                     0,                 1]])"
      ]
     },
     "execution_count": 36,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "T1=Ad0*A1\n",
    "T2=Ad0*A1*Ad1*A2\n",
    "T3=Ad0*A1*Ad1*A2*Ad2*A3\n",
    "T4=Ad0*A1*Ad1*A2*Ad2*A3*A4\n",
    "T = T4.subs([(theta_1,math.radians(0)),(theta_2,math.radians(-45)),(theta_3,math.radians(45))])\n",
    "print(\"Transformation Matrix with joint angle set to required position\")\n",
    "T\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### Calculating the Z vector for all links"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 37,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "The Z0 matrix is given:\n",
      "Matrix([\n",
      "[                  1.0],\n",
      "[-6.12323399573677e-17],\n",
      "[ 6.12323399573677e-17]])\n"
     ]
    }
   ],
   "source": [
    "print (\"The Z0 matrix is given:\")\n",
    "Z0 = T1[:3,2]\n",
    "pp.pprint(Z0)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 38,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "The Z1 matrix is given:\n",
      "Matrix([\n",
      "[6.12323399573677e-17*sin(theta_1) - 6.12323399573677e-17*cos(theta_1) + 6.12323399573677e-17],\n",
      "[                 6.12323399573677e-17*sin(theta_1) - 1.0*cos(theta_1) - 3.74939945665464e-33],\n",
      "[                -1.0*sin(theta_1) - 6.12323399573677e-17*cos(theta_1) + 3.74939945665464e-33]])\n"
     ]
    }
   ],
   "source": [
    "print (\"The Z1 matrix is given:\")\n",
    "Z1 = T2[:3,2]\n",
    "pp.pprint(Z1)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 39,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "The Z2 matrix is given:\n",
      "Matrix([\n",
      "[6.12323399573677e-17*sin(theta_1) - 6.12323399573677e-17*cos(theta_1) + 6.12323399573677e-17],\n",
      "[                 6.12323399573677e-17*sin(theta_1) - 1.0*cos(theta_1) - 3.74939945665464e-33],\n",
      "[                -1.0*sin(theta_1) - 6.12323399573677e-17*cos(theta_1) + 3.74939945665464e-33]])\n"
     ]
    }
   ],
   "source": [
    "print (\"The Z2 matrix is given:\")\n",
    "Z2 = T3[:3,2]\n",
    "pp.pprint(Z2)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 40,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "The Z4 matrix is given:\n",
      "Matrix([\n",
      "[6.12323399573677e-17*sin(theta_1) - 6.12323399573677e-17*cos(theta_1) + 6.12323399573677e-17],\n",
      "[                 6.12323399573677e-17*sin(theta_1) - 1.0*cos(theta_1) - 3.74939945665464e-33],\n",
      "[                -1.0*sin(theta_1) - 6.12323399573677e-17*cos(theta_1) + 3.74939945665464e-33]])\n"
     ]
    }
   ],
   "source": [
    "print (\"The Z4 matrix is given:\")\n",
    "Z3 = T4[:3,2]\n",
    "pp.pprint(Z3)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### Forming the columns $J_1$ to $J_6$ of the Jacobian Matrix"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 41,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "The initial jacobian matrix for home position is given by:\n"
     ]
    },
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}4.95981953654678 \\cdot 10^{-14} & 950.0 & 450.0\\\\950.0 & 0 & 0\\\\140.0 & 5.81707229594993 \\cdot 10^{-14} & 2.75545529808154 \\cdot 10^{-14}\\\\1.0 & 0 & 0\\\\-6.12323399573677 \\cdot 10^{-17} & -1.0 & -1.0\\\\6.12323399573677 \\cdot 10^{-17} & -6.12323399573677 \\cdot 10^{-17} & -6.12323399573677 \\cdot 10^{-17}\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[ 4.95981953654678e-14,                 950.0,                 450.0],\n",
       "[                950.0,                     0,                     0],\n",
       "[                140.0,  5.81707229594993e-14,  2.75545529808154e-14],\n",
       "[                  1.0,                     0,                     0],\n",
       "[-6.12323399573677e-17,                  -1.0,                  -1.0],\n",
       "[ 6.12323399573677e-17, -6.12323399573677e-17, -6.12323399573677e-17]])"
      ]
     },
     "execution_count": 41,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "Xp=T4[:3,3]\n",
    "diff_thet_1 = Xp.diff(theta_1) #Partially differentiating Xp wrt θ1\n",
    "\n",
    "diff_thet_2 = Xp.diff(theta_2) #Partially differentiating Xp wrt θ2\n",
    "\n",
    "diff_thet_3 = Xp.diff(theta_3) #Partially differentiating Xp wrt θ4\n",
    "\n",
    "\n",
    "print(\"The initial jacobian matrix for home position is given by:\")\n",
    "J = Matrix([[diff_thet_1[0],diff_thet_2[0],diff_thet_3[0]],\n",
    "          [diff_thet_1[1],diff_thet_2[1],diff_thet_3[1]],\n",
    "          [diff_thet_1[2],diff_thet_2[2],diff_thet_3[2]],\n",
    "          [Z0[0],Z1[0],Z2[0]],[Z0[1],Z1[1],Z2[1]],[Z0[2],Z1[2],Z2[2]]])\n",
    "\n",
    "J1=J.subs([(theta_1,0),(theta_2,0),(theta_3,0)])\n",
    "J1"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Circle equations"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### The equation of ciecle is given by\n",
    "$y^2+(z-72.5)^2=100$  \n",
    "Using the polar form  \n",
    "$y=r\\cos(\\theta),z=r\\sin(\\theta)$  \n",
    "Therefore,  \n",
    "$\\dot{y}=r\\cos(\\theta)\\dot{\\theta}$  \n",
    "$\\dot{z}=r\\sin(\\theta)\\dot{\\theta}$\n",
    "\n",
    "Also, $\\dot{\\theta}=\\frac{2\\pi}{5}$"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 42,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}0.717356090899523 & 0.696706709347165 & 0 & 65.5513972859398\\\\4.26609820773246 \\cdot 10^{-17} & -4.39253920284479 \\cdot 10^{-17} & -1.0 & 140.0\\\\-0.696706709347165 & 0.717356090899523 & -6.12323399573677 \\cdot 10^{-17} & -695.939112848469\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[   0.717356090899523,     0.696706709347165,                     0,  65.5513972859398],\n",
       "[4.26609820773246e-17, -4.39253920284479e-17,                  -1.0,             140.0],\n",
       "[  -0.696706709347165,     0.717356090899523, -6.12323399573677e-17, -695.939112848469],\n",
       "[                   0,                     0,                     0,                 1]])"
      ]
     },
     "execution_count": 42,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "T=T4\n",
    "T_eval=T.subs([(theta_1,0),(theta_2,-0.7),(theta_3,1.5)])\n",
    "# T_eval.simplify()\n",
    "T_eval"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### Using the above equations and the Jacobian matrix we compute the tool positions over a time period using Numerical Integration"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 43,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Computing Trajectory\n",
      "........................................................................................................................................................................................................."
     ]
    }
   ],
   "source": [
    "import numpy as np\n",
    "import sympy as sp\n",
    "x,y,z,r,o=sp.symbols(\"x y z r theta\")\n",
    "dt=0.05  #Time difference\n",
    "t_1=[math.radians(0)]  #Theta 1\n",
    "t_2=[-0.7]  #Theta 2\n",
    "t_3=[1.5]  #Theta 4\n",
    "front_left_joint=[]\n",
    "T=T4\n",
    "x_tool=[]\n",
    "y_tool=[]\n",
    "z_tool=[]\n",
    "#Tool Velocity Matrix\n",
    "X=sp.Matrix([[100*sp.sin((2*np.pi*o)/200)*(2*np.pi)/10],[0],[100*sp.cos((2*np.pi*o)/200)*(2*np.pi)/10],[0],[0],[0]])\n",
    "X1=sp.Matrix([[-40],[0],[0],[0],[0],[0]])\n",
    "i=0\n",
    "j=0\n",
    "print(\"Computing Trajectory\")\n",
    "while i<=200:\n",
    "    if i<100:\n",
    "        X_eval=X.subs(o,i)\n",
    "    if i>100:\n",
    "        X_eval=X1.subs(o,j)\n",
    "        j+=1\n",
    "    front_left_joint.append([t_1[i],t_2[i],t_3[i]])\n",
    "    T_eval=T.subs([(theta_1,t_1[i]),(theta_2,t_2[i]),(theta_3,t_3[i])])\n",
    "    x_tool.append(T_eval[3])\n",
    "    y_tool.append(T_eval[7])\n",
    "    z_tool.append(T_eval[11])\n",
    "    J_eval=J.subs([(theta_1,t_1[i]),(theta_2,t_2[i]),(theta_3,t_3[i])])\n",
    "    q=J_eval.pinv()*X_eval\n",
    "    q=q*dt\n",
    "#     print(q)\n",
    "    t_1.append(q[0]+t_1[i])\n",
    "    t_2.append(q[1]+t_2[i])\n",
    "    t_3.append(q[2]+t_3[i])\n",
    "    \n",
    "    print(\".\",end=\"\")\n",
    "    i=i+1\n",
    "\n",
    "\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Plotting trajectory in 2D Space"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 47,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "import matplotlib.pyplot as plt\n",
    "plt.plot(x_tool,z_tool)\n",
    "# plt.scatter(0,0.725)\n",
    "plt.xlabel(\"x coordinate\")\n",
    "plt.ylabel(\"z coordinate\")\n",
    "plt.axis(\"equal\")\n",
    "plt.title(\"Trajectory of Robot\")\n",
    "plt.grid(True)\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Plotting Trajectory in 3D Space"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 45,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 1000x1000 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "ax = plt.figure(figsize=(10,10)).add_subplot(projection='3d')\n",
    "# ax.axes.set_xlim3d(left=0.65, right=0.7) \n",
    "# ax.axes.set_ylim3d(bottom=-0.15, top=0.15) \n",
    "# ax.axes.set_zlim3d(bottom=0.625, top=0.825) \n",
    "ax.set_xlabel('$X$', fontsize=12)\n",
    "ax.set_ylabel('$Y$', fontsize=12)\n",
    "ax.set_zlabel('$Z$', fontsize=12)\n",
    "# ax.set_zticks(np.linspace(0.625,0.825,5).round(3))\n",
    "# ax.set_xticks(np.linspace(0.65,0.7,20).round(2))\n",
    "# ax.set_yticks(np.linspace(-0.15,0.15,5).round(2))\n",
    "ax.plot(x_tool, y_tool, z_tool, label='Tool Trajectory')\n",
    "ax.plot(np.full(len(y_tool),0.65), y_tool, z_tool, label='Projection of Circle on X Plane')\n",
    "ax.legend()\n",
    "\n",
    "plt.show()\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 46,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[[0.0, -0.7, 1.5],\n",
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      ]
     },
     "execution_count": 46,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "front_left_joint"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
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